CN113399220A - Glue pouring method for large heliostat - Google Patents
Glue pouring method for large heliostat Download PDFInfo
- Publication number
- CN113399220A CN113399220A CN202110522119.5A CN202110522119A CN113399220A CN 113399220 A CN113399220 A CN 113399220A CN 202110522119 A CN202110522119 A CN 202110522119A CN 113399220 A CN113399220 A CN 113399220A
- Authority
- CN
- China
- Prior art keywords
- heliostat
- glue
- steel structure
- platform
- mirror surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/26—Processes for applying liquids or other fluent materials performed by applying the liquid or other fluent material from an outlet device in contact with, or almost in contact with, the surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1005—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material already applied to the surface, e.g. coating thickness, weight or pattern
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1007—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/027—Coating heads with several outlets, e.g. aligned transversally to the moving direction of a web to be coated
Abstract
The application relates to the field of photo-thermal power generation, in particular to a glue pouring method for a large heliostat, which comprises the following steps: the curvature adjusting platform adjusts the installation height of each spherical screw according to the curvature requirement of the surface of the large heliostat, the spliced large heliostat surface is transferred to the upper part of the curvature adjusting platform together with the adsorption transfer mechanism, the assembled steel structure and the heliostat turnover mechanism are transferred to the upper part of the curvature adjusting platform with the large heliostat surface placed by a traveling crane from the previous station, all holes in the steel structure are aligned with all pins on the heliostat surface, glue injection is performed in sequence, the method can realize accurate positioning, automatic glue injection, intelligent detection and intelligent glue supplement of all glue injection points in the whole stroke range, and automatic production of the whole process is realized. The whole system layout uses the middle as a boundary, the left workbench and the right workbench are symmetrically divided, the left workbench and the right workbench are mutually main and auxiliary, and when one workbench works, the other workbench is used for incoming material preparation, so that the efficiency is improved.
Description
Technical Field
The application relates to the field of photo-thermal power generation, in particular to a glue pouring method for a large heliostat.
Background
The solar photo-thermal power generation technology gradually shows the rationality of the economy and the society along with the rising price of conventional energy, the gradual shortage of resources and the increasingly prominent influence of a large amount of fossil-fired energy on the environment. Solar photo-thermal power generation is a stable and environment-friendly new energy power production technology, and has become a strategic emerging industry which is mainly supported and developed by a plurality of countries around the world.
The photo-thermal power generation technology relates to a large number of heliostats which independently track the sun and are used for reflecting solar radiation to a specified heat absorber and heating a medium in the heat absorber, so that heat energy of a high-temperature medium is utilized for power generation. Therefore, the heliostat is a key component of solar photo-thermal power generation, and in order to improve the light condensation capability of the heliostat, the mirror surface shape of the heliostat needs to be strictly controlled, so that the heliostat needs to be installed on a steel structural member, and meanwhile, the steel structural member needs to be strictly controlled in position degree and relative position relation.
The heliostat is a typical large fragile piece, a plurality of mirror surfaces are required to be assembled into a specific shape and curvature and then assembled and fixed with a steel structure, and the process relates to mirror surface cleaning, backing plate bonding, curing, pin installation, mirror surface splicing and transferring, mirror surface and steel structure bonding, driving assembly, surface type detection and the like.
A photothermal power plant involves a large number of heliostats, which are typically fragile pieces, that have reduced openings and increased connection flexibility, and are therefore connected to the steel structure by pins and glue. Because the heliostat is large, the hole sites of a single heliostat related to glue filling are more, and people are inconvenient to arrive, an automatic glue filling method capable of improving glue filling efficiency when the heliostat is assembled with a steel structure is urgently needed.
Disclosure of Invention
In order to solve the problems in the prior art, a glue pouring method for a large heliostat is provided for realizing automatic glue pouring fixation of a mirror surface of the large heliostat and a steel structure.
In order to achieve the technical effects, the technical scheme of the application is as follows:
a glue pouring method for a large heliostat comprises the following steps:
the method comprises the following steps: the curvature adjusting platform adjusts the installation height of each spherical screw according to the curvature requirement of the mirror surface of the large heliostat and locks the spherical screws through nuts;
step two: the spliced large heliostat mirror surface is transferred to the upper part of a curvature adjusting platform from a large heliostat splicing station by a travelling crane together with an adsorption transfer mechanism, and then slowly descends by the cooperation of the travelling crane until the adsorption transfer mechanism and a positioning column are matched in place, the adsorption transfer mechanism releases all the mirror surfaces, the mirror surfaces are reliably placed on the curvature adjusting platform, the travelling crane drives the adsorption transfer mechanism to return to the upper part of the large heliostat splicing station, and the next adsorption and transfer of the large heliostat mirror surface are prepared;
step three: assembled steel construction and heliostat tilting mechanism are transported to the camber regulation platform top of having placed large-scale heliostat mirror surface by the driving from last station by the driving, descend slowly by the driving cooperation, target in place until heliostat tilting mechanism and reference column cooperation, steel construction positioning platform's sharp electric cylinder drive steel construction mounting flange rises and contacts and locks with the steel construction flange that the driving vehicle moved, then heliostat tilting mechanism loosens the steel construction, and transfer to last station by the driving, prepare handling next time.
Step four: under the cooperation of steel construction auxiliary positioning mechanism, steel construction positioning platform's sharp electric jar drives the steel construction and descends slowly, aligns up to all holes on the steel construction and all pins on the heliostat mirror surface, and steel construction top tight mechanism is tight with the steel construction top.
Step five: the gantry glue injection system moves to the position above the curvature positioning platform with the steel structure and the large heliostat mirror surface in place, an installation program is started to set glue injection for all matched holes in the heliostat in sequence, and the glue can fixedly connect pins on the heliostat mirror surface with steel on the steel structure until the glue injection of all the holes is finished; in the glue injection process, the vision detection module monitors the glue injection condition in real time and gives a prompt.
Step six: when glue is injected above one curvature adjusting platform, the other curvature adjusting platforms can repeat the steps from the first step to the fourth step, and after the gantry glue injection system finishes the step five, next glue injection can be directly carried out, so that the waiting time is reduced;
step seven: after the fifth step is finished, the fixedly connected steel structure and the heliostat can be transported to the next station through the turnover mechanism for driving.
The equipment for realizing the method is a large heliostat glue injection system, and comprises at least two curvature adjusting platforms and a gantry glue injection system, wherein the two curvature adjusting platforms are respectively arranged on two sides of the gantry glue injection system.
Further, the curvature adjusting platform comprises a mirror surface curvature adjusting platform, a steel structure positioning platform, a steel structure auxiliary positioning mechanism, a positioning column and a steel structure jacking mechanism; mirror surface curvature adjustment platform fixed mounting is subaerial, support the heliostat mirror surface, steel construction positioning platform installs at mirror surface curvature adjustment platform center, steel construction assistance-localization real-time mechanism installs in the mirror surface curvature adjustment platform outside, two at least reference columns are arranged in mirror surface curvature platform both sides, the reference column line passes through mirror surface curvature platform center, steel construction top tight mechanism arranges in the mirror surface curvature adjustment platform outside, the directional mirror surface curvature adjustment platform center of flexible direction of steel construction top tight mechanism
Further, the mirror surface curvature adjusting platform is formed by splicing the shape of a mirror surface formed by heliostats, the bottom of the mirror surface curvature adjusting platform is fixedly connected with a foundation, a plurality of pins used for supporting the heliostats are distributed on the upper surface of the curvature adjusting platform, the pins are connected with a pin adapter plate, the pin adapter plate is provided with a spherical screw rod with one spherical end through nuts, the installation height of the spherical screw rod is adjusted through the nuts, a plastic sleeve matched with the spherical screw rod is installed on the spherical part of the spherical screw rod, the bottom of the plastic sleeve is a ball hole, the ball hole is sleeved on the ball part of the spherical screw rod, the other end of the plastic sleeve is a plane.
Further, the steel structure positioning platform comprises a supporting frame, a linear electric cylinder, a guide sleeve, a pneumatic clamping jaw, a steel structure mounting flange and a contact type position switch; the supporting frame is fixed on the ground, a guide sleeve is welded at the center of the upper portion of the supporting frame, the center of the supporting frame is concentric with the mirror curvature adjusting platform, the bottom of the linear electric cylinder shell is connected with the supporting frame through a pin shaft, the output end of the linear electric cylinder shell is fixedly connected with the shaft portion of the steel structure mounting flange, the shaft of the steel structure mounting flange is installed in the guide sleeve and can move along the axis of the guide sleeve, a pneumatic clamping jaw is installed on the outer side of the top of the steel structure mounting flange, a contact type position switch is arranged on the steel structure mounting flange, and the linear electric cylinder drives the steel structure mounting flange to ascend and contact with the steel structure flange transported by a crane.
Furthermore, the steel structure auxiliary positioning mechanism comprises a supporting frame, an auxiliary positioning cylinder, an auxiliary positioning guide rail, an auxiliary positioning limiting block and a steel clamp; the supporting frame is provided with an auxiliary positioning cylinder, one end of the auxiliary positioning cylinder is provided with a steel clamp, an auxiliary positioning guide rail used for guiding is arranged beside the auxiliary positioning cylinder, and an auxiliary positioning limiting block used for positioning is arranged beside the auxiliary positioning guide rail.
Furthermore, the steel structure jacking mechanism comprises a supporting steel frame, a jacking cylinder, a jacking guide rail, a jacking limiting block and a conical jacking sleeve; the supporting steel frame is provided with a jacking cylinder, one end of the jacking cylinder is connected with a conical jacking sleeve, a jacking guide rail used for guiding is arranged beside the jacking cylinder, and a jacking limiting block used for positioning is arranged beside the jacking guide rail.
Further, the gantry glue injection system comprises a support upright post, a cross beam, a longitudinal beam, a linear module and a glue injection unit; a plurality of support posts link firmly with ground, two crossbeam parallel mount are on the support posts, the gyro wheel is installed at the longeron both ends, gyro wheel and crossbeam top side guide rail and downside guide rail cooperation, servo actuating system is respectively installed at the longeron both ends, servo actuating system's terminal pinion and the rack toothing on the crossbeam, realize the longeron along the drive control of crossbeam, install two at least sharp modules on the longeron, the injecting glue unit is installed to sharp module end, sharp module drive injecting glue unit moves along the longeron.
Still further, the glue injection unit comprises an installation panel, a vertical linear module, a glue gun pose adjusting module and a visual detection module; the installation panel is installed on the slider of sharp module, and perpendicular sharp module links firmly with the installation panel, and the slider of perpendicular sharp module is installed through the girder steel and is glued rifle position appearance adjustment module, installs the visual detection module on the perpendicular sharp module bottom casing.
Furthermore, the glue gun position and posture adjusting module comprises a servo rotary joint, a swing joint, a glue gun and a laser range finder; the shell of the servo rotary joint is arranged at the tail end of the vertical linear module, the output end of the servo rotary joint is fixedly connected with the swing joint, the output end of the swing joint is fixedly connected with the glue gun, and the laser range finder is fixed with the glue gun and used for testing the distance between the glue injection point and the glue gun;
the servo rotary joint is a servo motor, the servo motor is connected with the right-angle reducer, the swing joint is a swing air cylinder, the servo motor is used for driving one rotary freedom degree, and the swing air cylinder is used for driving the other rotary freedom degree to provide two rotary freedom degrees for the glue gun.
Furthermore, the visual detection module comprises a mounting bracket, a camera and a light source; a camera mounting bracket is arranged on the mounting bracket, a camera is arranged at the lower part of the camera mounting bracket, and a light source is arranged beside the camera; the visual detection module is fixedly connected with the bottom shell of the vertical linear module.
Furthermore, the vision detection module and the laser ranging signal are processed together, the glue filling quality monitoring condition can be given, the glue filling result is judged, and the glue filling amount is adjusted in time.
The application has the advantages that:
1. the method can realize accurate positioning, automatic glue injection, intelligent detection and intelligent glue supplement of each glue injection point in the whole stroke range, and realize automatic production of the whole process. The whole system layout uses the middle as a boundary, the left workbench and the right workbench are symmetrically divided, the left workbench and the right workbench are mutually main and auxiliary, and when one workbench works, the other workbench is used for incoming material preparation, so that the efficiency is improved.
2. The method adopts large-span synchronous driving, ensures the rigidity and the motion stability of the glue injection equipment, and ensures the glue injection precision.
3. According to the method, two glue injection units are arranged in one workbench area for synchronous glue injection, and the two glue injection units can be independently driven, so that the glue injection efficiency is improved.
4. The glue injection unit is provided with the visual detection module for glue injection detection, so that the glue injection quality condition can be detected in real time, and the glue injection amount can be adjusted according to the detection result.
5. The glue injection unit of the method is provided with three degrees of freedom, the glue injection position is flexible, and the interference of a heliostat steel structure at a special position can be avoided.
6. A plurality of curvature adjusting platforms can be matched as required, and waiting time of installation and positioning of a heliostat mirror surface and a heliostat steel structure is reduced.
7. The mirror curvature adjusting platform can adjust the height of each supporting point, and achieves adjustment of curvature of different heliostats.
8. The curvature adjusting platform is provided with two positioning columns, can realize the cooperation of the positioning sleeve of the heliostat mirror surface transferring mechanism and the steel structure transferring mechanism, guarantees that the heliostat mirror surface and the heliostat steel structure positioning reference are uniform, and realizes accurate positioning during assembling of the heliostat and the heliostat steel structure.
Drawings
Fig. 1 is a schematic view of the overall structure of the embodiment of the present invention.
Fig. 2 is a schematic layout view of a curvature adjustment platform according to an embodiment of the invention.
FIG. 3 is a cross-sectional view of the curvature adjustment screw of the present invention.
FIG. 4 is a schematic structural diagram of a steel structure positioning platform according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of the steel structure auxiliary positioning mechanism according to the embodiment of the invention.
FIG. 6 is a schematic structural diagram of a steel structure tightening mechanism according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a gantry glue injection unit according to an embodiment of the invention.
Fig. 8 is a schematic structural diagram of a glue injection unit according to an embodiment of the invention.
FIG. 9 is a diagram of a glue gun pose adjustment module according to an embodiment of the present invention.
FIG. 10 is a block diagram of a visual inspection module according to an embodiment of the present invention.
In the figure, 1-curvature adjusting platform, 2-gantry glue injection system, 3-heliostat mirror surface, 4-heliostat steel structure, 5-steel structure positioning platform, 6-mirror surface curvature adjusting platform, 7-steel structure auxiliary positioning mechanism, 8-steel structure tightening mechanism, 9-positioning column, 10-spherical screw, 11-nut, 12-plastic sleeve, 13-supporting frame, 14-auxiliary positioning cylinder, 15-auxiliary positioning guide rail, 16-steel clamp, 17-auxiliary positioning limiting block, 18-supporting steel frame, 19-tightening cylinder, 20-tightening guide rail, 21-tightening limiting block, 22-conical tightening sleeve, 23-positioning platform supporting frame, 24-linear electric cylinder, 25-guiding sleeve and 26-pneumatic clamping jaw, 27-steel structure mounting flange, 28-contact type position switch, 29-cross beam, 30-support upright post, 31-longitudinal beam, 32-linear module, 33-glue injection unit, 34-servo drive system, 35-rack, 36-upper side guide rail, 37-lower side guide rail, 38-vertical linear module, 39-mounting panel, 40-steel beam, 41-glue gun posture adjusting module, 42-visual detection module, 43-servo motor, 44-right-angle reducer, 45-swing cylinder, 46-glue gun, 47-laser range finder, 48-glue gun mounting flange, 49-mounting bracket, 50-camera mounting bracket, 51-camera and 52-light source.
Detailed Description
Example 1
A glue pouring method for a large heliostat comprises the following steps:
the method comprises the following steps: the curvature adjusting platform 1 adjusts the installation height of each spherical screw 10 according to the curvature requirement of the large heliostat mirror surface 3 and is locked by a nut 11;
step two: the spliced large heliostat mirror surface 3 is transferred to the upper part of the curvature adjusting platform 1 from the large heliostat splicing station by a travelling crane together with the adsorption transfer mechanism, and then slowly descends by the cooperation of the travelling crane until the adsorption transfer mechanism is matched with the positioning column 9 in place, the adsorption transfer mechanism releases all the mirror surfaces, the mirror surfaces are reliably placed on the curvature adjusting platform 1, the travelling crane drives the adsorption transfer mechanism to return to the upper part of the large heliostat splicing station, and the next adsorption and transfer of the large heliostat mirror surface 3 are prepared;
step three: the assembled steel structure and the heliostat overturning mechanism are transferred to the upper part of the curvature adjusting platform 1 where the large heliostat mirror face 3 is placed from the previous station by a travelling crane, slowly descend by the cooperation of the travelling crane until the heliostat overturning mechanism and the positioning column 9 are matched in place, the linear electric cylinder 24 of the steel structure positioning platform 5 drives the steel structure mounting flange 27 to ascend to be in contact with and locked with a steel structure flange operated by the travelling crane, and then the heliostat overturning mechanism loosens the steel structure and transfers to the previous station by the travelling crane to prepare for next hoisting;
step four: under the coordination of the steel structure auxiliary positioning mechanism 7, the linear electric cylinder 24 of the steel structure positioning platform 5 drives the steel structure to slowly descend until all holes on the steel structure are aligned with all pins on the heliostat mirror surface 3, and the steel structure jacking mechanism 8 jacks the steel structure tightly;
step five: the gantry glue injection system 2 moves to the position above the curvature positioning platform with the steel structure and the large heliostat mirror surface 3 in place, an installation program is started to set glue injection for all matched holes on the heliostat in sequence, and the glue fixedly connects the pins on the heliostat mirror surface 3 with the steel on the steel structure until the glue injection for all the holes is finished; in the glue injection process, the vision detection module 42 monitors the glue injection condition in real time and gives a prompt;
step six: when glue is injected above one curvature adjusting platform 1, other curvature adjusting platforms 1 repeat the steps from the first step to the fourth step, and after the gantry glue injection system 2 finishes the step five, next glue injection can be directly carried out, so that the waiting time is reduced;
step seven: after the fifth step is finished, the fixedly connected steel structure and the heliostat can be transported to the next station through the turnover mechanism for driving.
Example 2
A glue pouring method for a large heliostat comprises the following steps:
the method comprises the following steps: the curvature adjusting platform 1 adjusts the installation height of each spherical screw 10 according to the curvature requirement of the large heliostat mirror surface 3 and is locked by a nut 11;
step two: the spliced large heliostat mirror surface 3 is transferred to the upper part of the curvature adjusting platform 1 from the large heliostat splicing station by a travelling crane together with the adsorption transfer mechanism, and then slowly descends by the cooperation of the travelling crane until the adsorption transfer mechanism is matched with the positioning column 9 in place, the adsorption transfer mechanism releases all the mirror surfaces, the mirror surfaces are reliably placed on the curvature adjusting platform 1, the travelling crane drives the adsorption transfer mechanism to return to the upper part of the large heliostat splicing station, and the next adsorption and transfer of the large heliostat mirror surface 3 are prepared;
step three: the assembled steel structure and the heliostat overturning mechanism are transferred to the upper part of the curvature adjusting platform 1 where the large heliostat mirror face 3 is placed from the previous station by a travelling crane, slowly descend by the cooperation of the travelling crane until the heliostat overturning mechanism and the positioning column 9 are matched in place, the linear electric cylinder 24 of the steel structure positioning platform 5 drives the steel structure mounting flange 27 to ascend to be in contact with and locked with a steel structure flange operated by the travelling crane, and then the heliostat overturning mechanism loosens the steel structure and transfers to the previous station by the travelling crane to prepare for next hoisting;
step four: under the coordination of the steel structure auxiliary positioning mechanism 7, the linear electric cylinder 24 of the steel structure positioning platform 5 drives the steel structure to slowly descend until all holes on the steel structure are aligned with all pins on the heliostat mirror surface 3, and the steel structure jacking mechanism 8 jacks the steel structure tightly;
step five: the gantry glue injection system 2 moves to the position above the curvature positioning platform with the steel structure and the large heliostat mirror surface 3 in place, an installation program is started to set glue injection for all matched holes on the heliostat in sequence, and the glue fixedly connects the pins on the heliostat mirror surface 3 with the steel on the steel structure until the glue injection for all the holes is finished; in the glue injection process, the vision detection module 42 monitors the glue injection condition in real time and gives a prompt;
step six: when glue is injected above one curvature adjusting platform 1, other curvature adjusting platforms 1 repeat the steps from the first step to the fourth step, and after the gantry glue injection system 2 finishes the step five, next glue injection can be directly carried out, so that the waiting time is reduced;
step seven: after the fifth step is finished, the fixedly connected steel structure and the heliostat can be transported to the next station through the turnover mechanism for driving.
As shown in the figure, the equipment for implementing the method is a large heliostat glue filling system, and comprises at least two curvature adjusting platforms 1 and a gantry glue filling system 2, wherein the two curvature adjusting platforms 1 are respectively installed on two sides of the gantry glue filling system 2, so that assembling, positioning and automatic glue filling and curing of a heliostat mirror surface 3 and a heliostat steel structure 4 can be realized. In order to improve the gantry glue injection efficiency and reduce the waiting time, one gantry glue injection system 2 can cover two or more curvature adjusting platforms 1.
The curvature adjusting platform 1 comprises a mirror surface curvature adjusting platform 6, a steel structure positioning platform 5, a steel structure auxiliary positioning mechanism 7, a positioning column 9 and a steel structure jacking mechanism 8; the mirror surface curvature adjusting platform 6 is fixedly arranged on the ground and supports the heliostat mirror surface 3 to realize curvature adjustment, the steel structure positioning platform 5 is arranged at the center of the mirror surface curvature adjusting platform 6 to realize the lifting and fixing of a heliostat steel structure 4, the steel structure auxiliary positioning mechanism 7 is arranged at the outer side of the mirror surface curvature adjusting platform 6, the steel structure auxiliary positioning mechanism 7 is provided with a telescopic steel clamp 16, the telescopic direction of the steel clamp 16 points to the center of the mirror surface curvature adjusting platform 6, at least two positioning columns 9 are arranged at two sides of the mirror surface curvature platform, the connecting line of the positioning columns 9 passes through the center of the mirror surface curvature platform and is vertical to the travelling direction of a workshop travelling crane, the workshop travelling crane is a crane and can be used for lifting and transferring the heliostats, a plurality of steel structure tightening mechanisms 8 are arranged at the outer side of the mirror surface curvature adjusting platform 6 and, and the steel structure hole is matched for locking the steel structure. The heliostat comprises heliostat steel construction 4 and heliostat mirror surface 3, and heliostat mirror surface 3 links firmly with heliostat steel construction 4 through the encapsulating, and heliostat steel construction 4 is the mirror holder, and heliostat steel construction 4 comprises cavity shaped steel, is provided with the steel construction hole on the heliostat steel construction 4.
The positioning pins of the two positioning columns 9 can be matched with the positioning shaft sleeves on the heliostat mirror surface 3 rotating operation vehicle and the steel structure rotating operation vehicle gripping apparatus, so that the positioning reference of the heliostat mirror surface 3 and the heliostat steel structure 4 after being conveyed to the mirror surface curvature adjusting platform 6 is ensured to be consistent.
Mirror surface camber adjusts platform 6 and forms according to the shape concatenation of heliostat constitution mirror surface, its bottom links firmly with the ground through rag bolt, the surface distribution has a plurality of pins that are used for supporting the heliostat on camber adjustment platform 1, the pin links to each other with the pin keysets, the pin keysets installs one end through nut 11 and is spherical ball screw 10, the mounting height of ball screw 10 is adjusted through nut 11, the supporting plastic sheath 12 with it is installed to ball screw 10's sphere part, plastic sheath 12 bottom is the ball hole, the ball hole cover is at ball screw 10's bulb, the plastic sheath 12 other end is the plane, the plane contacts with the speculum mirror surface, can alleviate the pressure at contact site, spherical cooperation, can self-adaptation mirror surface camber and angle change. By adjusting the height of the ball screws 10, a desired curved surface shape is integrally formed, and the process is called curvature adjustment.
The steel structure positioning platform 5 comprises a supporting frame 13, a linear electric cylinder 24, a guide sleeve 25, a pneumatic clamping jaw 26, a steel structure mounting flange 27 and a contact type position switch 28; the supporting frame 13 is fixed on the ground, the guide sleeve 25 is welded at the center of the upper portion of the supporting frame 13, the center of the supporting frame 13 is concentric with the mirror curvature adjusting platform 6, the bottom of the shell of the linear electric cylinder 24 is connected with the supporting frame 13 through a pin shaft, the output end of the linear electric cylinder is fixedly connected with the shaft portion of the steel structure mounting flange 27, the shaft of the steel structure mounting flange 27 is installed in the guide sleeve 25 and can move along the axis of the guide sleeve 25, and the lifting of the steel structure mounting flange 27 is achieved. The pneumatic clamping jaws 26 are installed on the outer side of the top of the steel structure mounting flange 27, the contact type position switch 28 is arranged on the steel structure mounting flange 27, when the heliostat steel structure 4 is not in place, the pneumatic clamping jaws 26 are in an open state, the linear electric cylinder 24 drives the steel structure mounting flange 27 to ascend and contact with the steel structure flange transported by a crane, after contact, the contact type position switch 28 installed on the upper surface of the steel structure mounting flange 27 is triggered, the system controls the pneumatic clamping jaws 26 to fold, the heliostat steel structure 4 is fixed on the steel structure mounting flange 27, the crane loosens the heliostat steel structure 4, the linear electric cylinder 24 drives the heliostat steel structure 4 to slowly move downwards to a set position, pins of the heliostat mirror face 3 are guaranteed to be aligned with holes in the heliostat steel structure 4, pre-assembling and positioning of the heliostat steel structure 4 and the heliostat mirror face 3 are completed, and preparation is made for glue pouring.
The steel structure auxiliary positioning mechanism 7 comprises a supporting frame 13, an auxiliary positioning cylinder 14, an auxiliary positioning guide rail 15, an auxiliary positioning limiting block 17 and a steel clamp 16; be provided with auxiliary positioning cylinder 14 on braced frame 13, auxiliary positioning cylinder 14 one end is provided with steel clamp 16, and the other auxiliary positioning guide rail 15 that is used for the direction that is provided with of auxiliary positioning cylinder 14, the other auxiliary positioning stopper 17 that is used for the location that is provided with of auxiliary positioning guide rail 15. The auxiliary positioning cylinder 14 pushes the steel clip 16, and the steel clip 16 is matched with a steel frame of the heliostat steel structure 4 after extending out, so that the rotation of the heliostat steel structure 4 is limited.
The steel structure jacking mechanism 8 comprises a supporting steel frame 18, a jacking cylinder 19, a jacking guide rail 20, a jacking limiting block 21 and a conical jacking sleeve 22; the supporting steel frame 18 is provided with a jacking cylinder 19, one end of the jacking cylinder 19 is connected with a conical jacking sleeve 22, a jacking guide rail 20 used for guiding is arranged beside the jacking cylinder 19, and a jacking limiting block 21 used for positioning is arranged beside the jacking guide rail 20. After the heliostat steel structure 4 arrives at the position, the conical jacking sleeve 22 is driven by the jacking cylinder 19 to extend out of the corresponding positioning hole of the heliostat steel structure 4, so that the movement of the heliostat steel structure 4 is limited, and when glue injection is ensured, the position of the heliostat steel structure 4 is constant.
The gantry glue injection system 2 comprises a support column 30, a cross beam 29, a longitudinal beam 31, a linear module 32 and a glue injection unit 33; a plurality of support columns 30 are fixedly connected with the ground through ground feet, two cross beams 29 are parallelly installed on the support columns 30, the length and the span of each cross beam 29 cover a plurality of mirror curvature adjusting platforms 6, and the direction of each cross beam 29 is parallel to the central connecting line of the mirror curvature adjusting platforms 6. The two ends of the longitudinal beam 31 are provided with rollers which are matched with an upper side guide rail 36 and a lower side guide rail 37 on the cross beam 29, the two ends of the longitudinal beam 31 are respectively provided with a servo driving system 34, a tail end pinion of the servo driving system 34 is meshed with a rack 35 on the cross beam 29 to realize the driving control of the longitudinal beam 31 along the cross beam 29, and the two ends of the longitudinal beam 31 are respectively synchronously driven by the two sets of servo driving systems 34 and the rack and pinion 35. At least two straight line modules 32 are installed on the longitudinal beam 31, the glue injection unit 33 is installed at the tail end of each straight line module 32, the straight line modules 32 drive the glue injection unit 33 to move along the longitudinal beam 31, and the transverse beam 29 and the longitudinal beam 31 can realize accurate positioning of the glue injection unit 33 at any position on the plane of the mirror curvature adjusting platform 6. The glue injection unit 33 includes a Z-direction extension degree of freedom and 2 rotational degrees of freedom, which are hung on the linear module 32 and are moved by the module.
The glue injection unit 33 comprises an installation panel 39, a vertical linear module 38, a glue gun pose adjusting module 41 and a vision detection module 42; the installation panel 39 is installed on the sliding block of the straight line module 32, the vertical straight line module 38 is fixedly connected with the installation panel 39, the sliding block of the vertical straight line module 38 is provided with a glue gun pose adjusting module 41 through a steel beam 40, and the shell at the bottom of the vertical straight line module 38 is provided with a visual detection module 42.
The glue gun pose adjusting module 41 comprises a servo rotary joint, a swing joint, a glue gun 46 and a laser range finder 47; the casing of the servo rotary joint is arranged at the tail end of the vertical linear module 38, the output end of the servo rotary joint is fixedly connected with the swing joint, the output end of the swing joint is fixedly connected with the glue gun 46, and the glue gun 46 can swing along the axis of the swing joint and can also rotate along the axis of the servo rotary joint so as to adapt to the position requirements of different glue injection points. The laser range finder 47 is fixed with the glue gun 46 and used for testing the distance between the glue injection point and the glue gun 46;
the servo rotary joint is a servo motor 43, the servo motor 43 is connected with a right-angle speed reducer 44, the swing joint is a swing air cylinder 45, the servo motor 43 is used for driving one rotary freedom degree, the swing air cylinder 45 is used for driving the other rotary freedom degree, and two rotary freedom degrees are provided for a glue gun 46.
The visual inspection module 42 comprises a mounting bracket 49, a camera 51 and a light source 52; a camera mounting bracket 50 is arranged on the mounting bracket 49, a camera 51 is arranged at the lower part of the camera mounting bracket 50, and a light source 52 is arranged beside the camera 51; the visual detection module 42 is fixedly connected with the bottom shell of the vertical straight line module 38, so that the distance between the light source 52 and the shot object and the distance between the camera 51 and the shot object are consistent, and the consistency and reliability of image quality are ensured.
The vision detection module 42 and the laser ranging signal are processed together, the glue filling quality monitoring condition can be given, the glue filling result is judged, and the glue filling amount is adjusted in time.
The system is reasonable in layout, can realize accurate positioning, automatic glue injection, intelligent detection and intelligent glue supplement of each glue injection point in the whole travel range, and realizes automatic production of the whole process. The whole system layout uses the middle as a boundary, the left workbench and the right workbench are symmetrically divided, the left workbench and the right workbench are mutually main and auxiliary, and when one workbench works, the other workbench is used for incoming material preparation, so that the efficiency is improved.
The gantry glue injection system 2 adopts large-span synchronous driving, so that the rigidity and the motion stability of the glue injection equipment are ensured, and the glue injection precision is ensured. The gantry glue injection system 2 is provided with two glue injection units 33 in one workbench area for synchronous glue injection, and the two glue injection units 33 can be independently driven, so that the glue injection efficiency is improved. The glue injection unit 33 is provided with the visual detection module 42 for glue injection detection, so that the glue injection quality can be detected in real time, and the glue injection amount can be adjusted according to the detection result. The glue injection unit 33 is provided with three degrees of freedom, the glue injection position is flexible, and the interference of the heliostat steel structure 4 at a special position can be avoided.
A plurality of curvature adjusting platforms 1 can be arranged as required, and waiting time of installation and positioning of the heliostat mirror surface 3 and the heliostat steel structure 4 is reduced. The mirror curvature adjusting platform 6 can adjust the height of each supporting point to realize the adjustment of the curvature of different heliostats. Curvature adjustment platform 1 is provided with two reference columns 9, can realize heliostat mirror surface 3 transport mechanism and steel construction transport mechanism's locating sleeve cooperation, guarantees that heliostat mirror surface 3 and 4 location benchmark of heliostat steel construction are unified, accurate positioning when realizing the equipment of heliostat and heliostat steel construction 4.
Claims (10)
1. A glue pouring method for a large heliostat is characterized by comprising the following steps: the method comprises the following steps:
the method comprises the following steps: the curvature adjusting platform (1) adjusts the installation height of each spherical screw (10) according to the curvature requirement of the large heliostat mirror surface (3), and is locked by a nut (11);
step two: the spliced large heliostat mirror surfaces (3) are transferred to the upper part of the curvature adjusting platform (1) from a large heliostat splicing station by a travelling crane together with the adsorption transfer mechanism, and then slowly descend by the cooperation of the travelling crane until the adsorption transfer mechanism is matched with the positioning column (9) in place, the adsorption transfer mechanism releases all the mirror surfaces, the mirror surfaces are reliably placed on the curvature adjusting platform (1), the travelling crane drives the adsorption transfer mechanism to return to the upper part of the large heliostat splicing station, and the next adsorption and transfer of the large heliostat mirror surfaces (3) are prepared;
step three: the assembled steel structure and the heliostat turnover mechanism are transferred to the position above a curvature adjusting platform (1) where a large-scale heliostat mirror surface (3) is placed from the previous station by a travelling crane, slowly descend by the cooperation of the travelling crane until the heliostat turnover mechanism and a positioning column (9) are matched in place, a linear electric cylinder (24) of a steel structure positioning platform (5) drives a steel structure mounting flange (27) to ascend to be in contact with and locked with a steel structure flange transported by the travelling crane, then the heliostat turnover mechanism loosens the steel structure, and the travelling crane transfers to the previous station to prepare for next hoisting;
step four: under the coordination of the steel structure auxiliary positioning mechanism (7), a linear electric cylinder (24) of the steel structure positioning platform (5) drives the steel structure to slowly descend until all holes in the steel structure are aligned with all pins on the heliostat mirror surface (3), and the steel structure is tightly pressed by a steel structure pressing mechanism (8);
step five: the gantry glue injection system (2) moves to the position above the curvature positioning platform with the steel structure and the large heliostat mirror surface (3) in place, an installation program is started to set glue injection for all matched holes on the heliostat in sequence, and the glue fixedly connects the pins on the heliostat mirror surface (3) with the steel on the steel structure until the glue injection of all the holes is finished; in the glue injection process, the vision detection module (42) monitors the glue injection condition in real time and gives a prompt;
step six: when glue is injected above one curvature adjusting platform (1), other curvature adjusting platforms (1) repeat the steps from the first step to the fourth step, and after the gantry glue injection system (2) finishes the step five, next glue injection can be directly carried out, so that the waiting time is reduced;
step seven: after the fifth step is finished, the fixedly connected steel structure and the heliostat can be transported to the next station through the turnover mechanism for driving.
2. The glue filling method for the large heliostat according to claim 1, characterized in that: the equipment for realizing the method is a large heliostat glue injection system, which comprises at least two curvature adjusting platforms (1) and a gantry glue injection system (2), wherein the two curvature adjusting platforms (1) are respectively arranged at two sides of the gantry glue injection system (2);
the gantry glue injection system (2) comprises support columns (30), cross beams (29), longitudinal beams (31), linear modules (32) and glue injection units (33); a plurality of support post (30) link firmly with ground, two crossbeam (29) parallel mount are on support post (30), the gyro wheel is installed at longeron (31) both ends, gyro wheel and crossbeam (29) upper side guide rail (36) and downside guide rail (37) cooperation, servo actuating system (34) are respectively installed at longeron (31) both ends, rack (35) meshing on the terminal pinion of servo actuating system (34) and crossbeam (29), realize longeron (31) along the drive control of crossbeam (29), install two at least sharp module (32) on longeron (31), injecting glue unit (33) are installed to sharp module (32) end, sharp module (32) drive injecting glue unit (33) remove injecting glue along longeron (31), injecting glue unit (33) include one and stretch out degree of freedom and 2 rotational degrees of freedom.
3. The glue filling method for the large heliostat according to claim 2, characterized in that: the curvature adjusting platform (1) comprises a mirror surface curvature adjusting platform (6), a steel structure positioning platform (5), a steel structure auxiliary positioning mechanism (7), a positioning column (9) and a steel structure jacking mechanism (8); mirror surface curvature adjusts platform (6) fixed mounting subaerial, support heliostat mirror surface (3), install at mirror surface curvature adjusts platform (6) center steel construction positioning platform (5), install in the mirror surface curvature adjusts platform (6) outside steel construction auxiliary positioning mechanism (7), arrange in mirror surface curvature platform both sides two at least reference columns (9), mirror surface curvature platform center is passed through in reference column (9) line, tight mechanism (8) in a plurality of steel construction tops are arranged in mirror surface curvature adjusts platform (6) outside, the directional mirror surface curvature of the flexible direction of tight mechanism (8) in steel construction top adjusts platform (6) center.
4. The glue filling method for the large heliostat according to claim 3, wherein: mirror surface camber is adjusted platform (6) and is formed according to the shape concatenation of heliostat constitution mirror surface, its bottom links firmly with the ground, camber is adjusted platform (1) upper surface distribution and is had a plurality of pins that are used for supporting the heliostat, the pin links to each other with the pin keysets, the pin keysets passes through nut (11) and installs one end and be spherical ball screw (10), the mounting height of ball screw (10) passes through nut (11) adjustment, supporting plastic sheath (12) is installed to the sphere part of ball screw (10) with it, plastic sheath (12) bottom is the bulb hole, the bulb hole cover is at the bulb of ball screw (10), the plastic sheath (12) other end is the plane, the plane contacts with the speculum mirror surface.
5. The glue filling method for the large heliostat according to claim 3, wherein: the steel structure positioning platform (5) comprises a supporting frame (13), a linear electric cylinder (24), a guide sleeve (25), a pneumatic clamping jaw (26), a steel structure mounting flange (27) and a contact type position switch (28); braced frame (13) are fixed subaerial, the upper portion center welding of braced frame (13) has uide bushing (25), the center and mirror curvature of braced frame (13) are adjusted platform (6) and are concentric, sharp electric jar (24) casing bottom is through round pin hub connection with braced frame (13), the output links firmly with the axial region of steel construction mounting flange (27), the axle mounting of steel construction mounting flange (27) is in uide bushing (25), can remove along uide bushing (25) axle center, pneumatic clamping jaw (26) are installed in steel construction mounting flange (27) top outside, contact position switch (28) set up on steel construction mounting flange (27), sharp electric jar (24) drive steel construction mounting flange (27) rise and the steel construction flange that the crane transported comes and contact.
6. The glue filling method for the large heliostat according to claim 3, wherein: the steel structure auxiliary positioning mechanism (7) comprises a supporting frame (13), an auxiliary positioning cylinder (14), an auxiliary positioning guide rail (15), an auxiliary positioning limiting block (17) and a steel clamp (16); be provided with auxiliary positioning cylinder (14) on braced frame (13), auxiliary positioning cylinder (14) one end is provided with steel clip (16), and auxiliary positioning guide rail (15) that are used for the direction are provided with by auxiliary positioning cylinder (14), auxiliary positioning stopper (17) that are used for the location are provided with by auxiliary positioning guide rail (15).
7. The glue filling method for the large heliostat according to claim 2, characterized in that: the steel structure jacking mechanism (8) comprises a supporting steel frame (18), a jacking cylinder (19), a jacking guide rail (20), a jacking limiting block (21) and a conical jacking sleeve (22); the supporting steel frame (18) is provided with a jacking cylinder (19), one end of the jacking cylinder (19) is connected with a conical jacking sleeve (22), a jacking guide rail (20) used for guiding is arranged beside the jacking cylinder (19), and a jacking limiting block (21) used for positioning is arranged beside the jacking guide rail (20).
8. The glue filling method for the large heliostat according to claim 2, characterized in that: the glue injection unit (33) comprises an installation panel (39), a vertical straight line module (38), a glue gun pose adjusting module (41) and a visual detection module (42); the installation panel (39) is installed on the sliding block of the straight line module (32), the vertical straight line module (38) is fixedly connected with the installation panel (39), the sliding block of the vertical straight line module (38) is provided with a glue gun pose adjusting module (41) through a steel beam (40), and the bottom shell of the vertical straight line module (38) is provided with a visual detection module (42).
9. The glue filling method for the large heliostat according to claim 8, wherein: the glue gun pose adjusting module (41) comprises a servo rotary joint, a swing joint, a glue gun (46) and a laser range finder (47); the shell of the servo rotary joint is arranged at the tail end of the vertical linear module (38), the output end of the servo rotary joint is fixedly connected with the swing joint, the output end of the swing joint is fixedly connected with the glue gun (46), and the laser range finder (47) is fixed with the glue gun (46) and used for testing the distance between the glue injection point and the glue gun (46); the servo rotary joint is servo motor (43), servo motor (43) link to each other with right angle reduction gear (44), and the swing joint is swing cylinder (45), and servo motor (43) are used for driving a rotational degree of freedom, and swing cylinder (45) are used for driving another rotational degree of freedom, provide two rotational degrees of freedom for gluing rifle (46).
10. The glue filling method for the large heliostat according to claim 8, wherein: the visual detection module (42) comprises a mounting bracket (49), a camera (51) and a light source (52); a camera mounting bracket (50) is arranged on the mounting bracket (49), a camera (51) is arranged at the lower part of the camera mounting bracket (50), and a light source (52) is arranged beside the camera (51); the visual detection module (42) is fixedly connected with the bottom shell of the vertical linear module (38).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110522119.5A CN113399220B (en) | 2021-05-13 | 2021-05-13 | Glue pouring method for large heliostat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110522119.5A CN113399220B (en) | 2021-05-13 | 2021-05-13 | Glue pouring method for large heliostat |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113399220A true CN113399220A (en) | 2021-09-17 |
| CN113399220B CN113399220B (en) | 2022-10-18 |
Family
ID=77678576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110522119.5A Active CN113399220B (en) | 2021-05-13 | 2021-05-13 | Glue pouring method for large heliostat |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113399220B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20012046U1 (en) * | 2000-07-12 | 2000-09-14 | Zeiss Carl Fa | Device for adjusting a surface of an adjustment part |
| CN101187724A (en) * | 2007-12-12 | 2008-05-28 | 中国科学院电工研究所 | Heliostat support device |
| CN101661153A (en) * | 2009-08-05 | 2010-03-03 | 皇明太阳能集团有限公司 | Supporting and shape-adjusting device for reflecting mirror of heliostat |
| US20100051083A1 (en) * | 2008-09-03 | 2010-03-04 | Boyk Bill | Solar tracking platform with rotating truss |
| US20170191700A1 (en) * | 2014-03-28 | 2017-07-06 | Vast Solar Pty Ltd | Apparatus and method for heliostat support |
| CN107065121A (en) * | 2017-05-26 | 2017-08-18 | 东方电气集团东方锅炉股份有限公司 | A kind of sub- mirror surface-shaped control device and method of settled date mirror unit |
| CN207352258U (en) * | 2017-06-30 | 2018-05-11 | 东方电气集团东方锅炉股份有限公司 | A kind of heliostat integral face type splices auxiliary device |
| CN109631363A (en) * | 2018-11-06 | 2019-04-16 | 深圳市智康新能科技有限公司 | Mirror assembly, solar light-heat power-generation settled date mirror holder and its installation method |
| CN110216046A (en) * | 2019-07-08 | 2019-09-10 | 广州伯乐智能技术有限公司 | A kind of building curtain wall intelligence glue injection equipment and its method to building curtain wall vision-based detection |
| CN111219894A (en) * | 2020-01-09 | 2020-06-02 | 浙江中控太阳能技术有限公司 | Heliostat surface type adjusting mechanism and method |
| CN111299086A (en) * | 2020-03-10 | 2020-06-19 | 昆山希盟自动化科技有限公司 | Dispensing mechanism and display screen production line |
-
2021
- 2021-05-13 CN CN202110522119.5A patent/CN113399220B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20012046U1 (en) * | 2000-07-12 | 2000-09-14 | Zeiss Carl Fa | Device for adjusting a surface of an adjustment part |
| CN101187724A (en) * | 2007-12-12 | 2008-05-28 | 中国科学院电工研究所 | Heliostat support device |
| US20100051083A1 (en) * | 2008-09-03 | 2010-03-04 | Boyk Bill | Solar tracking platform with rotating truss |
| CN101661153A (en) * | 2009-08-05 | 2010-03-03 | 皇明太阳能集团有限公司 | Supporting and shape-adjusting device for reflecting mirror of heliostat |
| US20170191700A1 (en) * | 2014-03-28 | 2017-07-06 | Vast Solar Pty Ltd | Apparatus and method for heliostat support |
| CN107065121A (en) * | 2017-05-26 | 2017-08-18 | 东方电气集团东方锅炉股份有限公司 | A kind of sub- mirror surface-shaped control device and method of settled date mirror unit |
| CN207352258U (en) * | 2017-06-30 | 2018-05-11 | 东方电气集团东方锅炉股份有限公司 | A kind of heliostat integral face type splices auxiliary device |
| CN109631363A (en) * | 2018-11-06 | 2019-04-16 | 深圳市智康新能科技有限公司 | Mirror assembly, solar light-heat power-generation settled date mirror holder and its installation method |
| CN110216046A (en) * | 2019-07-08 | 2019-09-10 | 广州伯乐智能技术有限公司 | A kind of building curtain wall intelligence glue injection equipment and its method to building curtain wall vision-based detection |
| CN111219894A (en) * | 2020-01-09 | 2020-06-02 | 浙江中控太阳能技术有限公司 | Heliostat surface type adjusting mechanism and method |
| CN111299086A (en) * | 2020-03-10 | 2020-06-19 | 昆山希盟自动化科技有限公司 | Dispensing mechanism and display screen production line |
Non-Patent Citations (3)
| Title |
|---|
| ANDREAS PFAHL: "《Progress in heliostat development》", 《SOLAR ENERGY》 * |
| ANDREAS PFAHL: "《Progress in heliostat development》", 《SOLAR ENERGY》, no. 152, 31 March 2017 (2017-03-31), pages 3 - 37 * |
| 李志谦: "《精通FANUC机器人编程维护与外围集成》", 31 December 2019, 机械工业出版社, pages: 3 - 5 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113399220B (en) | 2022-10-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102375359B1 (en) | Welding assembly for permanently joining the first tube member and the second member | |
| CN102765489B (en) | Method and device for folding and flexibly positioning body wallboard | |
| CN110000530B (en) | Automatic assembly device and automatic assembly method for railway cantilever assembly | |
| CN201400461Y (en) | Sledge-type conveying device and sledge-type conveying line with the sledge-type conveying device | |
| CN206153782U (en) | Battery welding equipment | |
| CN110953939B (en) | Horizontal sectional assembling method for multi-stage rocket | |
| CN113399220B (en) | Glue pouring method for large heliostat | |
| CN113325500B (en) | Assembling production method of large heliostat | |
| CN110329773B (en) | Lifting device with single power source | |
| CN113385369B (en) | Glue pouring system for large heliostat | |
| CN111515569B (en) | Robot welding production line for large-scale structure of crane | |
| CN210060307U (en) | Automatic assembling device for railway cantilever assembly | |
| CN115370541A (en) | Assembling equipment for fan sectional type blades | |
| CN214769673U (en) | Novel laser welding device suitable for various parts | |
| CN113399997B (en) | Large heliostat splicing and transferring system | |
| CN114394252A (en) | Solar unmanned aerial vehicle wing rib assembly pose adjusting system | |
| CN212239715U (en) | Welding workstation at bottom of elevator sedan-chair | |
| CN113732683A (en) | Automatic assembly system of assembling of small pipe diameter | |
| CN215744474U (en) | Gantry glue injection system | |
| CN110980515A (en) | Multi-angle heavy object promotes portal frame | |
| CN215762062U (en) | Curvature adjusting platform | |
| CN1036255C (en) | Apparatus for welding structural components of nuclear fuel assembly | |
| CN113399998B (en) | Splicing and transferring method for large heliostats | |
| CN116371698B (en) | Device and method for automatically controlling solidification caching time of automobile B column | |
| CN220145036U (en) | Nuclear power beam column class welding robot workstation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |